diff --git a/docs/design/autoware-interfaces/ad-api/features/planning-factors.md b/docs/design/autoware-interfaces/ad-api/features/planning-factors.md new file mode 100644 index 00000000000..8e5300f2329 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/features/planning-factors.md @@ -0,0 +1,5 @@ +# Planning factors + +!!! warning + + Under Construction diff --git a/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md b/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md new file mode 100644 index 00000000000..fd19310385d --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md @@ -0,0 +1,28 @@ +# Vehicle status + +## Related API + +- {{ link_ad_api('/api/vehicle/kinematics') }} +- {{ link_ad_api('/api/vehicle/status') }} +- {{ link_ad_api('/api/vehicle/dimensions') }} +- {{ link_ad_api('/api/vehicle/doors/layout') }} +- {{ link_ad_api('/api/vehicle/doors/status') }} + +## Kinematics + +This is an estimate of the vehicle kinematics. The vehicle position is necessary for applications to schedule dispatches. +Also, using velocity and acceleration, applications can find vehicles that need operator assistance, such as stuck or brake suddenly. + +## Status + +This is the status provided by the vehicle. The indicators and steering are mainly used for visualization and remote control. +The remaining energy can be also used for vehicle scheduling. + +## Doors + +This feature is available if the vehicle provides a software interface for the doors. +It can be used to create user interfaces for passengers or to control sequences at bus stops. + +## Dimensions + +The vehicle dimensions are used to know the actual distance between the vehicle and objects because the vehicle position in kinematics is the coordinates of the base link. This is necessary for visualization when supporting vehicles remotely. diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md new file mode 100644 index 00000000000..8abf5a2b97c --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md @@ -0,0 +1,16 @@ +--- +title: /api/vehicle/dimensions +method: function call +type: + name: autoware_adapi_v1_msgs/srv/GetVehicleDimensions + res: + - name: status + text: response status + - name: dimensions + text: vehicle dimensions +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the vehicle dimensions. See [here](../../../../components/vehicle-dimensions.md) for the definition of each value. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md new file mode 100644 index 00000000000..fb8697be442 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md @@ -0,0 +1,18 @@ +--- +title: /api/vehicle/doors/layout +method: function call +type: + name: autoware_adapi_v1_msgs/srv/GetDoorLayout + res: + - name: status + text: response status + - name: doors.roles + text: The roles of the door in the service the vehicle provides. + - name: doors.description + text: The description of the door for display in the interface. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the door layout. It is an array of pose for each door. The array index corresponds to the door status. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md new file mode 100644 index 00000000000..8c8b51c103f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md @@ -0,0 +1,14 @@ +--- +title: /api/vehicle/doors/status +method: notification +type: + name: autoware_adapi_v1_msgs/msg/DoorStatusArray + msg: + - name: doors.status + text: current door status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Publish door status in array according to the door location information that received from vehicle info service. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematics.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematics.md new file mode 100644 index 00000000000..ce00d1effa3 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematics.md @@ -0,0 +1,20 @@ +--- +title: /api/vehicle/kinematics +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/VehicleKinematics + msg: + - name: geographic_pose + text: The longitude and latitude of the vehicle. If the map uses local coordinates, it will not be available. + - name: pose + text: The pose with covariance from the base link. + - name: twist + text: Vehicle current twist with covariance. + - name: accel + text: Vehicle current acceleration with covariance. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Publish vehicle kinematics. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md new file mode 100644 index 00000000000..333cbdcb3c4 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md @@ -0,0 +1,22 @@ +--- +title: /api/vehicle/status +method: notification +type: + name: autoware_adapi_v1_msgs/msg/VehicleStatus + msg: + - name: gear + text: Gear status. + - name: turn_indicators + text: Turn indicators status, only either left or right will be enabled. + - name: hazard_lights + text: Hazard lights status. + - name: steering_tire_angle + text: Vehicle current tire angle in radian. + - name: energy_percentage + text: Battery percentage or fuel percentage, it will depends on the vehicle. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Publish vehicle state information. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md new file mode 100644 index 00000000000..dbcc95c097a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md @@ -0,0 +1,19 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorLayout +used: + - autoware_adapi_v1_msgs/srv/GetDoorLayout +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint8 GET_ON = 1 +uint8 GET_OFF = 2 + +uint8[] roles +string description +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md new file mode 100644 index 00000000000..5a3722bee9f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md @@ -0,0 +1,23 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorStatus +used: + - autoware_adapi_v1_msgs/msg/DoorStatusArray +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants for door status +uint8 UNKNOWN = 0 +uint8 NOT_AVAILABLE = 1 +uint8 OPENED = 2 +uint8 CLOSED = 3 +uint8 OPENING = 4 +uint8 CLOSING = 5 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md new file mode 100644 index 00000000000..cd83a4b8950 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorStatusArray +uses: + - autoware_adapi_v1_msgs/msg/DoorStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/DoorStatus[] doors +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md new file mode 100644 index 00000000000..6c79186e63c --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md @@ -0,0 +1,23 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/Gear +used: + - autoware_adapi_v1_msgs/msg/VehicleStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants +uint8 UNKNOWN = 0 +uint8 NEUTRAL = 1 +uint8 DRIVE = 2 +uint8 REVERSE = 3 +uint8 PARK = 4 +uint8 LOW = 5 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md new file mode 100644 index 00000000000..b7d3846de04 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md @@ -0,0 +1,20 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/HazardLights +used: + - autoware_adapi_v1_msgs/msg/VehicleStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants +uint8 UNKNOWN = 0 +uint8 DISABLE = 1 +uint8 ENABLE = 2 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md index e6c7189c9e0..247f7012511 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md @@ -5,6 +5,8 @@ used: - autoware_adapi_v1_msgs/srv/AcceptStart - autoware_adapi_v1_msgs/srv/ChangeOperationMode - autoware_adapi_v1_msgs/srv/ClearRoute + - autoware_adapi_v1_msgs/srv/GetDoorLayout + - autoware_adapi_v1_msgs/srv/GetVehicleDimensions - autoware_adapi_v1_msgs/srv/InitializeLocalization - autoware_adapi_v1_msgs/srv/SetRoute - autoware_adapi_v1_msgs/srv/SetRoutePoints diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md new file mode 100644 index 00000000000..f27fb2c2f0f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md @@ -0,0 +1,21 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/TurnIndicators +used: + - autoware_adapi_v1_msgs/msg/VehicleStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants +uint8 UNKNOWN = 0 +uint8 DISABLE = 1 +uint8 LEFT = 2 +uint8 RIGHT = 3 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md new file mode 100644 index 00000000000..ec69bf6e741 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md @@ -0,0 +1,24 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VehicleDimensions +used: + - autoware_adapi_v1_msgs/srv/GetVehicleDimensions +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +float32 wheel_radius +float32 wheel_width +float32 wheel_base +float32 wheel_tread +float32 front_overhang +float32 rear_overhang +float32 left_overhang +float32 right_overhang +float32 height +geometry_msgs/Polygon footprint +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleKinematics.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleKinematics.md new file mode 100644 index 00000000000..83afb48d8de --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleKinematics.md @@ -0,0 +1,21 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VehicleKinematics +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# Geographic point, using the WGS 84 reference ellipsoid. +# Currently only support conversion from single MGRS Grid code or UTM +# If the vector map do not contain correct MGRS Grid code or UTM, this data will be not valid +geographic_msgs/GeoPointStamped geographic_pose + +# Local coordinate from the autoware +geometry_msgs/PoseWithCovarianceStamped pose +geometry_msgs/TwistWithCovarianceStamped twist +geometry_msgs/AccelWithCovarianceStamped accel +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md new file mode 100644 index 00000000000..224f1999d1a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md @@ -0,0 +1,22 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VehicleStatus +uses: + - autoware_adapi_v1_msgs/msg/Gear + - autoware_adapi_v1_msgs/msg/HazardLights + - autoware_adapi_v1_msgs/msg/TurnIndicators +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/Gear gear +autoware_adapi_v1_msgs/TurnIndicators turn_indicators +autoware_adapi_v1_msgs/HazardLights hazard_lights +float64 steering_tire_angle +float32 energy_percentage # Battery percentage or fuel percentage, it will depends on the vehicle. +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md index 7cc277d2791..7cb4125992f 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md @@ -29,6 +29,7 @@ uint16 SIDEWALK = 13 uint16 LANE_CHANGE = 14 uint16 AVOIDANCE = 15 uint16 EMERGENCY_STOP_OPERATION = 16 +uint16 NO_DRIVABLE_LANE = 17 # constants for status uint16 APPROACHING = 1 diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md new file mode 100644 index 00000000000..487637997a7 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/GetDoorLayout +uses: + - autoware_adapi_v1_msgs/msg/DoorLayout + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +autoware_adapi_v1_msgs/DoorLayout doors +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md new file mode 100644 index 00000000000..5e5884a823d --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/GetVehicleDimensions +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus + - autoware_adapi_v1_msgs/msg/VehicleDimensions +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +autoware_adapi_v1_msgs/VehicleDimensions dimensions +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/index.md b/docs/design/autoware-interfaces/ad-api/use-cases/index.md index 96dfb0f9536..a37c26a0713 100644 --- a/docs/design/autoware-interfaces/ad-api/use-cases/index.md +++ b/docs/design/autoware-interfaces/ad-api/use-cases/index.md @@ -19,3 +19,9 @@ Service providers can combine these use cases to define user stories and check i - [Change the operation mode](change-operation-mode.md) - [Drive to the designated position](drive-designated-position.md) - [Get on and get off](get-on-off.md) +- [Vehicle monitoring](./vehicle-monitoring.md) +- [Request to cooperate](./request-to-cooperate.md) + +## Features + +- [Vehicle status](../features/vehicle-status.md) diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md b/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md new file mode 100644 index 00000000000..7b0dc2385d3 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md @@ -0,0 +1,7 @@ +# Request to cooperate + +!!! warning + + Under Construction + +AD API supports operator cooperation for vehicle decisions. diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md b/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md new file mode 100644 index 00000000000..308e0f5b475 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md @@ -0,0 +1,16 @@ +# Vehicle monitoring + +AD API provides current vehicle status for remote monitoring, visualization for passengers, etc. +Use the API below depending on the data you want to monitor. + +## Vehicle status + +The [vehicle status](../features/vehicle-status.md) provides basic information such as kinematics, indicators, and dimensions. +This allows a remote operator to know the position and velocity of the vehicle. +For applications such as FMS, it can help find vehicles that need assistance, such as vehicles that are stuck or brake suddenly. +It is also possible to determine the actual distance to an object from the vehicle dimensions. + +## Planning factors + +The [planning factors](../features/planning-factors.md) provides the planning status of the vehicle. +HMI can be used to warn of sudden movements of the vehicle, and to share the stop reason with passengers for comfortable driving. diff --git a/main.py b/main.py index 5629cd8cdc5..6952a83155e 100644 --- a/main.py +++ b/main.py @@ -23,4 +23,5 @@ def resolve_msg_field(type, name, ext): for field in name.split("."): type = type.split("[")[0] type = specs[type][ext][field] + ext = "msg" return type diff --git a/tools/autoware-interfaces/generate.py b/tools/autoware-interfaces/generate.py index cd809c1c416..4d098df20bf 100755 --- a/tools/autoware-interfaces/generate.py +++ b/tools/autoware-interfaces/generate.py @@ -16,6 +16,7 @@ # This script requires "source install/setup.bash" for dependent messages/services. +import shutil import yaml from pathlib import Path @@ -25,6 +26,12 @@ from ament_index_python.packages import get_package_share_directory +# cSpell:words indentless +class MyDumper(yaml.SafeDumper): + def increase_indent(self, flow=False, *args, **kwargs): + return super().increase_indent(flow=flow, indentless=False) + + def load_markdown_metadata(path: Path): lines = path.read_text().splitlines() if (2 < len(lines)) and (lines[0] == "---"): @@ -93,7 +100,7 @@ def main(): # Export a field list. data = {"types": specs} - Path("yaml/autoware-interfaces.yaml").write_text(yaml.safe_dump(data)) + Path("yaml/autoware-interfaces.yaml").write_text(yaml.dump(data, Dumper=MyDumper)) # Create data type dependencies. type_uses = {name: set() for name in specs} @@ -106,8 +113,11 @@ def main(): type_uses[user].add(name) type_used[name].add(user) - # Generate data type pages. + # Clean up data type pages. base = Path("docs/design/autoware-interfaces/ad-api/types") + shutil.rmtree(base) + + # Generate data type pages. for name in specs: uses = list(sorted(type_uses[name])) used = list(sorted(type_used[name])) @@ -115,7 +125,7 @@ def main(): data = {k: v for k, v in data.items() if v} text = "---\n" text += "# This file is generated by tools/autoware-interfaces/generate.py\n" - text += yaml.safe_dump(data).strip() + "\n" + text += yaml.dump(data, Dumper=MyDumper).strip() + "\n" text += "---\n\n" text += "{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}\n" text += "{% block definition %}\n" diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index b766dac0e00..93376fc902b 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -1,4 +1,21 @@ types: + autoware_adapi_v1_msgs/msg/DoorLayout: + msg: + description: string + roles: uint8[] + autoware_adapi_v1_msgs/msg/DoorStatus: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/DoorStatusArray: + msg: + doors: autoware_adapi_v1_msgs/msg/DoorStatus[] + stamp: builtin_interfaces/msg/Time + autoware_adapi_v1_msgs/msg/Gear: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/HazardLights: + msg: + status: uint8 autoware_adapi_v1_msgs/msg/LocalizationInitializationState: msg: stamp: builtin_interfaces/msg/Time @@ -63,6 +80,35 @@ types: msg: factors: autoware_adapi_v1_msgs/msg/SteeringFactor[] header: std_msgs/msg/Header + autoware_adapi_v1_msgs/msg/TurnIndicators: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/VehicleDimensions: + msg: + footprint: geometry_msgs/msg/Polygon + front_overhang: float32 + height: float32 + left_overhang: float32 + rear_overhang: float32 + right_overhang: float32 + wheel_base: float32 + wheel_radius: float32 + wheel_tread: float32 + wheel_width: float32 + autoware_adapi_v1_msgs/msg/VehicleKinematics: + msg: + accel: geometry_msgs/msg/AccelWithCovarianceStamped + geographic_pose: geographic_msgs/msg/GeoPointStamped + pose: geometry_msgs/msg/PoseWithCovarianceStamped + twist: geometry_msgs/msg/TwistWithCovarianceStamped + autoware_adapi_v1_msgs/msg/VehicleStatus: + msg: + energy_percentage: float32 + gear: autoware_adapi_v1_msgs/msg/Gear + hazard_lights: autoware_adapi_v1_msgs/msg/HazardLights + stamp: builtin_interfaces/msg/Time + steering_tire_angle: float64 + turn_indicators: autoware_adapi_v1_msgs/msg/TurnIndicators autoware_adapi_v1_msgs/msg/VelocityFactor: msg: detail: string @@ -83,6 +129,14 @@ types: autoware_adapi_v1_msgs/srv/ClearRoute: res: status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/GetDoorLayout: + res: + doors: autoware_adapi_v1_msgs/msg/DoorLayout + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/GetVehicleDimensions: + res: + dimensions: autoware_adapi_v1_msgs/msg/VehicleDimensions + status: autoware_adapi_v1_msgs/msg/ResponseStatus autoware_adapi_v1_msgs/srv/InitializeLocalization: req: pose: geometry_msgs/msg/PoseWithCovarianceStamped[<=1]